/*
 * PersonDetector.h
 *
 *  Created on: Dec 5, 2010
 *      Author: bipins
 */

#ifndef PERSONDETECTOR_H_
#define PERSONDETECTOR_H_

#include "constants.h"
#include "CPFSensorModel.h"

class PersonDetector	{

private:
	CPFSensorModel cpf;

public:
	PersonDetector(ros::NodeHandle n);
	void setObstacleCostMap(const MATRIX &m);
	void estimateNumberOfPersons(const MyPose &robotPose, const PoseArray &personPoses,
			const PoseArray &personPosesMeans, const vector<DD> &personPosesStds,
			const Robot &robot, int &M, STLPose &newPerson, const MATRIX &map);
};

#endif /* PERSONDETECTOR_H_ */
